LPV Control of a Quadrotor
Tutor / Supervisor
Student
Torren Larroya, Abel
Document type
Master thesis
Date
2015
rights
Open Access
Publisher
Universitat Politècnica de Catalunya
UPCommons
Abstract
This master thesis addresses the LPV control of a quadrotor system. The quadorotor model
is first transformed to a LPV model respresentation starting from the nonlinear physical model.
Then, using the LPV gain-scheduling control theory, several LPV controller schemes are designed.
They are based on static state feedback control with or without reference model. Stability and
performance will be established by means of LMIs. Finally, the implemented control solution will
be tested in a quadorotor system in a simulation environment using the non-linear model. To
assess the performances of those controllers, several scenarios have been simulated.
